import rclpy
from rclpy.node import Node
from rclpy.qos import QoSProfile, ReliabilityPolicy, HistoryPolicy, DurabilityPolicy
#import msg
from px4_msgs.msg import OffboardControlMode, TrajectorySetpoint, VehicleCommand, VehicleStatus, VehicleOdometry,SensorGps

class AVinterface():
    """Interface for controlling a vehicle in offboard mode."""

    def __init__(self, main_node: Node = None) -> None:
        self.main_node = main_node

        # Configure QoS profile for publishing and subscribing ??????

        # Create publishers

        # Create subscribers
